KR20220098265A - Method and apparatus for modulating haptic feedback - Google Patents

Method and apparatus for modulating haptic feedback Download PDF

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KR20220098265A
KR20220098265A KR1020227021913A KR20227021913A KR20220098265A KR 20220098265 A KR20220098265 A KR 20220098265A KR 1020227021913 A KR1020227021913 A KR 1020227021913A KR 20227021913 A KR20227021913 A KR 20227021913A KR 20220098265 A KR20220098265 A KR 20220098265A
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haptic feedback
focal point
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transducers
ultrasound
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벤자민 롱
스리람 수브라마니안
토마스 카터
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울트라햅틱스 아이피 엘티디
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N10/00—Quantum computing, i.e. information processing based on quantum-mechanical phenomena
    • G06N10/20—Models of quantum computing, e.g. quantum circuits or universal quantum computers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N10/00—Quantum computing, i.e. information processing based on quantum-mechanical phenomena
    • G06N10/80—Quantum programming, e.g. interfaces, languages or software-development kits for creating or handling programs capable of running on quantum computers; Platforms for simulating or accessing quantum computers, e.g. cloud-based quantum computing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B6/00—Tactile signalling systems, e.g. personal calling systems

Abstract

햅틱 피드백을 변조하는 방법 및 장치가 개시된다. 본 발명은 촉각 감각들을 제공하기 위한 음장의 변조를 위한 방법 및 장치에 관한 것이다. 초음파를 사용하여 햅틱 피드백을 생성하는 방법이 제공된다. 상기 방법은 초음파 트랜스듀서들의 위상 어레이를 사용하여 공통 초점을 갖는 복수의 초음파를 생성하는 단계 - 공통 초점은 햅틱 피드백 점임 -, 및 햅틱 피드백 점에서 거의 또는 전혀 가청 음을 발생하지 않도록 선택된 파형을 사용하여 초음파들의 발생을 변조하는 단계를 포함한다.A method and apparatus for modulating haptic feedback are disclosed. The present invention relates to a method and apparatus for modulation of a sound field to provide tactile sensations. A method for generating haptic feedback using ultrasound is provided. The method uses a phased array of ultrasound transducers to generate a plurality of ultrasound waves having a common focus, the common focus being a haptic feedback point, and using a waveform selected to produce little or no audible sound at the haptic feedback point. to modulate the generation of ultrasonic waves.

Figure P1020227021913
Figure P1020227021913

Description

햅틱 피드백을 변조하는 방법 및 장치{METHOD AND APPARATUS FOR MODULATING HAPTIC FEEDBACK}METHOD AND APPARATUS FOR MODULATING HAPTIC FEEDBACK

본 발명은 촉각 감각들을 제공하기 위한 음장(acoustic field)의 변조를 위한 방법 및 장치에 관한 것이다. 배타적인 것은 아니지만, 더욱 구체적으로는, 본 발명은 개선된 사용자 경험을 제공하기 위해 촉각 감각들을 제공하는 음장의 변조를 위한 방법 및 장치에 관한 것이다.The present invention relates to a method and apparatus for modulation of an acoustic field to provide tactile sensations. More particularly, but not exclusively, the present invention relates to a method and apparatus for modulation of a sound field that provides tactile sensations to provide an improved user experience.

촉각 정보 또는 피드백을, 종종 대화형 스크린 상에 디스플레이되는 시각 정보와 조합하여, 사용자 또는 사용자들에게 제공하는 다양한 대화형 햅틱 기술이 존재한다. 예를 들어, 이전의 햅틱 피드백 디바이스들은 변형 가능한 표면을 물리적으로 변화시키기 위해 이동하는 핀을 포함한다. 관절 암에 연결된 펜이 SensAble PHANTOM 디바이스에서와 같이, 제공될 수 있다. 대안적으로, 사용자는 사용자에게 햅틱 피드백을 제공하기 위해 활성화되는 하나 이상의 액추에이터를, 예를 들어 장갑의 형태로 착용할 수 있다. 그러나, 이들 기술 각각에서, 사용자는 변형 가능한 표면, 펜, 또는 특수하게 구성된 장갑과의 물리적 접촉을 요구한다. 이러한 요구들은 사용자가 시스템과 상호 작용할 수 있는 편리성 및 자발생을 감소시킨다.Various interactive haptic technologies exist that provide tactile information or feedback to a user or users, often in combination with visual information displayed on an interactive screen. For example, previous haptic feedback devices include a pin that moves to physically change a deformable surface. A pen connected to the articulation arm may be provided, such as in a SensAble PHANTOM device. Alternatively, the user may wear one or more actuators that are activated to provide haptic feedback to the user, for example in the form of a glove. However, in each of these techniques, the user requires physical contact with a deformable surface, pen, or specially constructed glove. These requirements reduce the convenience and spontaneity with which users can interact with the system.

사람의 피부 상의 촉각 감각들은 공중에서의 대상에 음향 방사력(acoustic radiation force)을 가하기 위해 초음파 트랜스듀서들의 위상 어레이를 사용하여 생성될 수 있다. 초음파들은 트랜스듀서에 의해 송신되고, 각각의 트랜스듀서에 의해 방출된 위상은 가해지는 음향 방사력을 최대화하기 위해 파들이 목표 점에 동시에 도달하도록 조정된다.Tactile sensations on a person's skin can be created using a phased array of ultrasonic transducers to apply an acoustic radiation force to an object in the air. Ultrasound waves are transmitted by transducers, and the phase emitted by each transducer is adjusted so that the waves reach a target point simultaneously to maximize the applied acoustic radiation force.

초음파 햅틱 피드백 시스템들은 시스템의 사용자의 피부 상에 진동 촉각 감각을 생성한다. 포커스된 초음파는 사용자의 피부를 약간 변위시키기 위해 교차점에서 충분한 힘을 생성한다. 일반적으로, 초음파 햅틱 피드백 시스템들은 피부 내의 수용체들이 느낄 수 있는 임계값 위인, 40㎑ 이상의 주파수를 갖는 초음파를 사용한다. 그러므로, 사용자는 단지 이러한 포커스된 초음파의 개시 및 중지를 검출할 수 있다. 피부 내의 수용체들에 의해 검출되는 감각을 제공하기 위해서, 포커스된 초음파는 수용체들의 검출 가능 범위 내에서, 더 낮은 주파수로 변조된다. 이 범위는 1㎐ 내지 500㎐가 일반적이다.Ultrasonic haptic feedback systems create a vibrotactile sensation on the skin of a user of the system. The focused ultrasound generates enough force at the junction to slightly displace the user's skin. In general, ultrasound haptic feedback systems use ultrasound with a frequency of 40 kHz or higher, which is above a threshold that receptors in the skin can feel. Therefore, the user can only detect the start and stop of this focused ultrasound. To provide a sensation detected by receptors in the skin, the focused ultrasound is modulated to a lower frequency, within the detectable range of the receptors. In this range, 1 Hz to 500 Hz is common.

변조의 부작용은 초음파가 감쇠하고 변조 주파수에서 음(sound)을 생성한다는 것이다. 그러므로, 200㎐ 변조 주파수로 촉각 피드백을 생성할 때, 200㎐ 음이 또한 발생된다. 이 가청 음은 사용자들에게 성가실 수 있으며, 채택된 초음파 햅틱 기술에 대한 장벽이다.A side effect of modulation is that the ultrasound attenuates and produces a sound at the modulation frequency. Therefore, when generating tactile feedback with a 200 Hz modulation frequency, a 200 Hz sound is also generated. This audible sound can be annoying to users and is a barrier to the adopted ultrasonic haptic technology.

본 발명은 상기 언급된 문제점들을 완화하는 것을 추구한다. 대안적으로 또는 부가적으로, 본 발명은 개선된 햅틱 피드백 시스템을 제공하는 것을 추구한다.The present invention seeks to alleviate the above-mentioned problems. Alternatively or additionally, the present invention seeks to provide an improved haptic feedback system.

본 발명은, 제1 양태에 따라, 초음파를 사용하여 햅틱 피드백을 생성하는 방법을 제공하고, 이 방법은,The present invention, according to a first aspect, provides a method for generating haptic feedback using ultrasound, the method comprising:

초음파 트랜스듀서들의 위상 어레이를 사용하여 공통 초점을 갖는 복수의 초음파를 발생하는 단계 - 공통 초점은 햅틱 피드백 점임 -,generating a plurality of ultrasound waves having a common focus using a phased array of ultrasound transducers, the common focus being a haptic feedback point;

햅틱 피드백 점에서 거의 또는 전혀 가청 음을 발생하지 않도록 선택된 파형을 사용하여 초음파들의 발생을 변조하는 단계를 포함한다.modulating the generation of the ultrasonic waves using the selected waveform to produce little or no audible sound at the haptic feedback point.

이 방법은 복수의 공통 초점을 발생하는 단계를 포함할 수 있고, 각각의 공통 초점은 햅틱 피드백 점이다.The method may include generating a plurality of common focal points, each common focal point being a haptic feedback point.

햅틱 피드백 점에서 가청 음을 거의 또는 전혀 발생하지 않는 것은 임의의 음이 발생되는 주파수와 함께, 발생된 임의의 음의 크기 둘 다에 의존한다. 소량의 가청 음이 발생될 수 있고, 허용 가능한 것으로 고려될 수 있다. 햅틱 피드백의 생성에 의해 발생된 음의 허용 가능성은 햅틱 피드백 점에서의 가청 배경 잡음에 의존할 수 있다. 잡음이 있는 환경에서, 햅틱 피드백 점에서 발생된 음의 허용 가능한 수준은 조용한 환경에서 발생된 음의 허용 가능한 레벨보다 클 수 있다. 그러므로, 햅틱 피드백을 생성하는 햅틱 피드백 시스템의 의도된 사용 및 시스템이 위치한 환경이 음 발생의 허용 가능한 레벨을 결정할 것이다.Little or no audible sound at the point of haptic feedback depends both on the frequency at which any sound is generated and the magnitude of any sound generated. A small amount of audible tone may be generated and may be considered acceptable. The acceptability of the sound generated by the generation of haptic feedback may depend on the audible background noise at the haptic feedback point. In a noisy environment, an acceptable level of sound generated at the haptic feedback point may be greater than an acceptable level of sound generated in a quiet environment. Therefore, the intended use of the haptic feedback system to generate haptic feedback and the environment in which the system is located will determine the acceptable level of sound generation.

높은 세기들에서, 초음파는 비선형으로 된다. 이 비선형 동작은 햅틱 피드백의 생성을 허용하지만 햅틱 피드백 시스템들에서 발생된 가청 음을 또한 발생한다. 초음파들의 비선형성의 효과의 예는 효과를 활용하여 파라메트릭 스피커들로 상당히 지향성인 가청 음을 생성하는 것이다. 음은 웨스터벨트 방정식(Westervelt equation)의 p2 항의 2차 도함수로 인해 발생된다.At high intensities, the ultrasound becomes non-linear. This non-linear motion allows for the generation of haptic feedback, but also produces the audible sound generated in haptic feedback systems. An example of the effect of the non-linearity of ultrasonic waves is to exploit the effect to produce a highly directional audible sound with parametric speakers. The negative is caused by the second derivative of the p 2 term of the Westervelt equation.

Figure pat00001
Figure pat00001

여기서 p는 본 발명의 경우에서 점에서의 순간 음압과 주위 음압 사이의 차이인 음압이다.where p is the sound pressure, which in the case of the present invention is the difference between the instantaneous sound pressure at a point and the ambient sound pressure.

기존의 햅틱 피드백 시스템들의 경우에, 변조된 위상 어레이는 간단한 구형파 패턴으로 변조된 초음파를 발생하는데, 즉 어레이는 변조 주파수에서 온과 오프로 스위치된다. 그러므로, p2 항은 변조 주파수와 일치하는 주파수를 가진 위상 어레이의 초점에서 대략적인 구형파를 발생한다. 초음파의 비선형 감쇠에 의해 발생된 구형파는 비교적 큰 잡음을 생성할 것이고 그러한 햅틱 피드백 시스템의 사용자에게 미치게 된다.In the case of existing haptic feedback systems, a modulated phased array generates modulated ultrasound in a simple square wave pattern, ie the array is switched on and off at the modulation frequency. Therefore, the p 2 term generates an approximate square wave at the focus of the phased array with a frequency that coincides with the modulation frequency. A square wave generated by the non-linear attenuation of ultrasonic waves will produce relatively large noise and will strike the user of such a haptic feedback system.

가청 잡음을 줄이거나 제거하기 위해, 출원인은 음장에 걸쳐 음압 레벨의 급격한 변화들을 방지할 필요가 있다는 것을 인식하였다. 위의 구형파 예에 의해 입증된 것과 같은, 압력의 이들 급격한 변화는 비선형 매체에 의해 진동들로 전환된다. 음압 레벨의 변화들을 평활화함으로써, 발생된 음이 낮은 및/또는 비가청 레벨로 감소될 수 있다. 음압은 연속적으로 변화될 수 있다. 음압이 연속적으로 변화될 수 있음에 따라, 변화율의 1차 도함수도 연속적으로 변화된다. 음압이 연속적으로 변화될 수 있음에 따라, 변화율의 2차 도함수가 연속적으로 변화된다. 음압의 최대 변화율은 음파들의 주파수로 사람들이 듣는 임계값의 가변성, 및 파가 발생되는 공기의 온도 및 습도 등과 같은 요인들을 포함하는, 많은 요인에 의존할 수 있다. 햅틱 피드백의 발생은 발생된 어떤 음을 햅틱 피드백 시스템의 의도된 사용에 적합하게 낮게 하기 위해 "튜닝"될 수 있다.In order to reduce or eliminate audible noise, Applicants have recognized the need to prevent sudden changes in sound pressure level across the sound field. These rapid changes in pressure, such as demonstrated by the square wave example above, are converted into vibrations by the non-linear medium. By smoothing changes in the sound pressure level, the generated sound can be reduced to a low and/or inaudible level. The sound pressure can be continuously changed. As the sound pressure can be varied continuously, the first derivative of the rate of change also varies continuously. As the sound pressure can be varied continuously, the second derivative of the rate of change is continuously changed. The maximum rate of change of sound pressure may depend on many factors, including factors such as the variability of the threshold at which people hear the frequency of the sound waves, and the temperature and humidity of the air at which the wave is generated. The generation of haptic feedback can be “tuned” to bring any sound generated low enough to suit the intended use of the haptic feedback system.

대안적으로 또는 부가적으로, 상기 방법에 의해 발생된 음은 매우 짧은 시간만 지속할 수 있다. 사람들은 단지 매우 짧게 지속되는 음들을 감지하지 않기 때문에, 이것은 발생된 음이 효과적으로 들리지 않게 할 수 있다.Alternatively or additionally, the sound generated by the method may only last a very short time. Since people just don't perceive very short lasting notes, this can effectively make the generated notes inaudible.

발생된 음을 줄이는 한가지 가능한 방법은 트랜스듀서들이 턴 오프하는 것을 방지하고, 그러므로 구형파 변조에서와 같이 0%와 100% 사이에서 급속히 스위칭하는 음향 에너지의 방출을 방지하는 것일 수 있다. 상기 방법은 공통 초점의 위치를 변화시키는 단계를 더 포함할 수 있다. 공통 초점의 위치는 일정하게 변화될 수 있다. 공통 초점의 위치는 중심 초점을 중심으로 진동할 수 있다. 예를 들어, 위상 어레이의 위상 지연들은 변조 주파수에서의 피드백 점으로 초음파를 디포커스 및 리포커스하도록 변경될 수 있다. 위상 어레이 내의 개별적인 트랜스듀서에 의해 방출된 음압 레벨은 초점에서의 음압 레벨에 비해 작고, 그래서 초점에서의 음압에 큰 변화가 여전히 있을 것이다. 그러므로, 이 해결책은 비교적 작은 효과를 가질 수 있다.One possible way to reduce the generated sound could be to prevent the transducers from turning off, and therefore the emission of acoustic energy that switches rapidly between 0% and 100% as in square wave modulation. The method may further comprise changing the position of the common focal point. The position of the common focal point may be constantly changed. The location of the common focal point may oscillate about the central focal point. For example, the phase delays of the phased array can be changed to defocus and refocus the ultrasound to the feedback point at the modulation frequency. The sound pressure level emitted by the individual transducers in the phased array is small compared to the sound pressure level at the focal point, so there will still be a large change in the sound pressure at the focal point. Therefore, this solution can have a relatively small effect.

상기 방법은 초점에서 급격한 압력 변화들을 방지하는 단계를 포함할 수 있다. 변조는 트랜스듀서 위상들 및 진폭들의 보간인 파형을 선택하는 것을 포함할 수 있다. 상세한 설명은 다양한 보간된 파형들 및 초음파의 비선형 감쇠에 의해 초점에서 발생되는 파형들을 보여 준다. 파형들은 완전히 온과 완전히 오프 상태 사이에서 보간될 수 있다. 보간 곡선들은 임의의 2개의 트랜스듀서 위상 및 진폭 구성들 사이에서 일반화될 수 있다. 보간은 선형 보간일 수 있다. 보간은 다항식또는 삼각법 보간, 예컨대, 코사인 보간일 수 있다. 보간은 정현 파형이 초점에서 발생하도록 구성된 파라메트릭 스피커 보간일 수 있다. 파라메트릭 스피커 보간은 예를 들어, 왜곡을 제거하기 위해 파라메트릭 스피커 빔으로 정현파를 인코딩하는 데 사용되는 것과 동일한 식에 따를 수 있다. 이러한 식의 예는 [Pompei (2002) " Sound from Ultrasound: The Parametric Array as an Audible Sound Source", Ph.D. MIT:US, Eq 3.9]에서 발견될 수 있다. 보간된 파형은 종래 기술의 구형파 변조보다 초점에서 더 매끄러운 파형들을 발생할 수 있다.The method may include preventing sudden pressure changes at the focal point. Modulation may include selecting a waveform that is an interpolation of transducer phases and amplitudes. The detailed description shows various interpolated waveforms and waveforms generated at the focal point by non-linear attenuation of ultrasound. Waveforms can be interpolated between fully on and fully off states. Interpolation curves can be generalized between any two transducer phase and amplitude configurations. The interpolation may be a linear interpolation. The interpolation may be polynomial or trigonometric interpolation, such as cosine interpolation. The interpolation may be a parametric speaker interpolation configured such that a sinusoidal waveform occurs at focus. Parametric speaker interpolation may, for example, follow the same equation used to encode a sinusoid into a parametric speaker beam to remove distortion. An example of this expression is [Pompei (2002) "Sound from Ultrasound: The Parametric Array as an Audible Sound Source", Ph.D. MIT:US, Eq 3.9]. The interpolated waveform can produce waveforms that are smoother in focus than the prior art square wave modulation.

본 발명은, 제2 양태에 따라, 햅틱 피드백 시스템을 제공하고, 이 햅틱 피드백 시스템은The present invention, according to a second aspect, provides a haptic feedback system, the haptic feedback system comprising:

햅틱 피드백 점을 생성하기 위해 초음파를 방출하도록 구성된 복수의 트랜스듀서를 포함하는 위상 어레이를 포함하고,a phased array comprising a plurality of transducers configured to emit ultrasound to generate a haptic feedback point;

위상 어레이는 초음파가 햅틱 피드백 점에 수렴할 때 거의 또는 전혀 음을 발생하지 않는 형상을 갖는 변조 파형에 따라 초음파를 방출하도록 구성된다.The phased array is configured to emit ultrasonic waves according to a modulated waveform having a shape that produces little or no sound when the ultrasonic waves converge on a haptic feedback point.

햅틱 피드백 시스템은 제어 유닛을 포함할 수 있다. 햅틱 피드백 시스템은 구동 유닛을 포함할 수 있다. 구동 유닛은 초음파를 발생하기 위해 트랜스듀서를 구동하도록 구성될 수 있다. 제어 유닛은 구동 유닛에 제어 신호를 전송하도록 구성될 수 있다. 제어 유닛은 메모리를 포함할 수 있다. 제어 유닛은 특정한 변조 파형에 따라 트랜스듀서의 출력을 변조하도록 구성될 수 있다. 변조 파형은 선형일 수 있다. 변조 파형은 다항식 또는 삼각법 보간, 예를 들어, 코사인 보간일 수 있다. 변조 파형은 포물선 스피커 보간에 대응할 수 있다. 제어 유닛은 PC 또는 다른 적합한 컴퓨터 디바이스일 수 있다.The haptic feedback system may include a control unit. The haptic feedback system may include a drive unit. The drive unit may be configured to drive the transducer to generate ultrasonic waves. The control unit may be configured to transmit a control signal to the drive unit. The control unit may include a memory. The control unit may be configured to modulate the output of the transducer according to a particular modulation waveform. The modulating waveform may be linear. The modulating waveform may be polynomial or trigonometric interpolation, for example cosine interpolation. The modulating waveform may correspond to a parabolic speaker interpolation. The control unit may be a PC or other suitable computer device.

제3 양태에 따르면, 본 발명은 컴퓨터 프로그램 제품을 제공하고, 컴퓨터 프로그램은 일련의 명령어들을 포함하고, 일련의 명령어들은, 본 발명의 제2 양태에 따른 햅틱 피드백 시스템과 관련된 제어 유닛 상에서 실행할 때, 본 발명의 제1 양태에 따른 방법 단계들이 수행되도록 햅틱 피드백 시스템이 동작하게 한다.According to a third aspect, the present invention provides a computer program product, the computer program comprising a series of instructions, the series of instructions, when executed on a control unit associated with a haptic feedback system according to the second aspect of the present invention, cause the haptic feedback system to operate such that method steps according to the first aspect of the present invention are performed.

본 발명의 한 양태와 관련하여 설명된 특징들은 본 발명의 다른 양태들에 포함될 수 있다는 것을 이해할 수 있을 것이다. 예를 들어, 본 발명의 방법은 본 발명의 장치를 참조하여 설명된 특징들 중 어느 것을 포함할 수 있고 그 반대도 가능하다.It will be appreciated that features described with respect to one aspect of the invention may be included in other aspects of the invention. For example, a method of the present invention may include any of the features described with reference to an apparatus of the present invention and vice versa.

본 발명의 실시예들이 이제 첨부된 개략적인 도면들을 참조하여 단지 예로서 설명될 것이다:
도 1은 본 발명의 제1 실시예에 따른 햅틱 피드백 시스템의 개략도를 도시하고;
도 2는 종래 기술의 구형파 변조 패턴 및 초점에서 발생된 결과적인 파형을 도시하고;
도 3은 본 발명의 제2 양태에 따른 선형 보간 변조 패턴 및 초점에서 발생된 결과적인 파형을 도시하고;
도 4는 본 발명의 제3 양태에 따른 코사인 보간 변조 패턴 및 초점에서 발생된 결과적인 파형을 도시하고;
도 5는 본 발명의 제4 양태에 따른 파라메트릭 스피커 보간 변조 패턴 및 초점에서 발생된 결과적인 파형을 도시하고;
도 6은 코사인 보간 변조에 의해 초점에서 발생된 음장을 도시하고;
도 7은 파라메트릭 스피커 보간 변조에 의해 초점에서 발생된 음장을 도시하고;
도 8은 구형파 변조에 의해 초점에서 발생된 음장을 도시한다.Embodiments of the invention will now be described by way of example only with reference to the accompanying schematic drawings:
1 shows a schematic diagram of a haptic feedback system according to a first embodiment of the present invention;
Figure 2 shows a prior art square wave modulation pattern and resulting waveforms generated at the focal point;
3 shows a linear interpolation modulation pattern according to a second aspect of the present invention and a resulting waveform generated at focus;
Fig. 4 shows a cosine interpolation modulation pattern according to a third aspect of the present invention and a resulting waveform generated at the focal point;
Fig. 5 shows a parametric speaker interpolation modulation pattern according to a fourth aspect of the present invention and a resulting waveform generated at the focal point;
6 shows a sound field generated at a focal point by cosine interpolation modulation;
7 shows a sound field generated at a focal point by parametric speaker interpolation modulation;
8 shows a sound field generated at a focal point by square wave modulation.

상기 방법의 예시적인 실시예에서, 먼저 초점의 3D 위치가 결정된다. 위상 어레이가 초점에서의 높은 압력 및 주변 영역들에서의 낮은 압력을 달성하기 위해 산출된 각각의 트랜스듀서의 위상들 및 진폭들을 갖는, 음장을 생성하도록 구성된다. 2개의 상태는 다음에, 첫째로, 계산된 위상들 및 진폭들을 갖는, 초점 상태, 그리고 둘째로, 위상 어레이 트랜스듀서들의 모두가 제로 진폭으로 설정된, 오프 상태로 존재한다. 피드백을 변조할 주파수가 다음에 피드백의 원하는 느낌에 따라 선택된다. 그 후, 변조 파형은 원하는 주파수에서 선택되고, 변조 주파수는 초점에서 발생된 가청 음을 최소화하거나 줄이도록 선택된다. 예시적인 변조 파형은 코사인 파형이다. 변조 파형은 다음에 상기 확인된 2개의 상태 사이에서 보간하기 위해 트랜스듀서들의 동작에 적용된다.In an exemplary embodiment of the method, a 3D position of the focus is first determined. A phased array is configured to create a sound field, with the phases and amplitudes of each transducer calculated to achieve a high pressure at the focal point and a low pressure in the surrounding regions. Two states exist next: first, the focus state, with calculated phases and amplitudes, and second, the OFF state, with all of the phased array transducers set to zero amplitude. The frequency at which to modulate the feedback is then selected according to the desired feel of the feedback. A modulating waveform is then selected at the desired frequency, and the modulating frequency is selected to minimize or reduce the audible sound generated at the focal point. An exemplary modulating waveform is a cosine waveform. The modulating waveform is then applied to the operation of the transducers to interpolate between the two states identified above.

특정한 햅틱 피드백 시스템에 적용되는 것과 같은, 더욱 구체적인 예가 이제 도 1을 참조하여 설명된다.A more specific example, as applied to a particular haptic feedback system, is now described with reference to FIG. 1 .

도 1은 트랜스듀서 어레이(12), 스크린(14), 프로젝터(16), 손 추적기(20), PC(22), 구동 유닛(24), 및 사용자의 손(26)을 포함하는 예시적인 햅틱 피드백 시스템(10)을 도시한다. 시스템(10)이 초음파를 사용하여 햅틱 피드백을 발생하기 위해 특정한 시스템으로 결코 제한되지 않는 것으로, 본 발명을 예시하기 위해 도시된다. 트랜스듀서 어레이(12)는 스크린(14) 아래에 위치하고 압력 패턴들이 스크린(14) 위의 영역에 스크린(14)을 통해 송신될 수 있도록 구성된다. 이 특정한 실시예에서, 트랜스듀서 어레이는 16×20 그리드 구조로 배열된 320개의 muRata MA40S4S 트랜스듀서를 포함한다. 각각의 트랜스듀서 유닛은 직경이 10mm이고 트랜스듀서들은 트랜스듀서 어레이(12) 풋 프린트를 최소화하기 위해 그들 사이에 간격을 두고 않고 배치된다. 트랜스듀서들은 다량의 음압(30㎝의 거리에서 20파스칼의 압력)을 발생하고, 넓은 각도(60도)의 지향성을 갖고 있다. 트랜스듀서들은 40㎑의 주파수에서 초음파들을 송신하도록 구성된다. 프로젝터(16)는 도시한 바와 같이 스크린(14) 위로부터 스크린 (14) 상에 시각 정보를 투사하도록 구성된다. 대안적 실시예에서, 프로젝터는 트랜스듀서 어레이와 스크린 사이에 배치될 수 있어서, 스크린 아래로부터 투사가 나온다.1 is an exemplary haptic comprising a transducer array 12 , a screen 14 , a projector 16 , a hand tracker 20 , a PC 22 , a drive unit 24 , and a user's hand 26 . A feedback system 10 is shown. The system 10 is shown to illustrate the present invention in no way limited to a particular system for generating haptic feedback using ultrasound. The transducer array 12 is positioned below the screen 14 and is configured such that pressure patterns can be transmitted through the screen 14 to an area above the screen 14 . In this particular embodiment, the transducer array includes 320 muRata MA40S4S transducers arranged in a 16x20 grid structure. Each transducer unit is 10 mm in diameter and the transducers are placed with no spacing between them to minimize the transducer array 12 footprint. The transducers generate a large amount of sound pressure (a pressure of 20 Pascals at a distance of 30 cm) and have a wide angle (60 degrees) of directivity. The transducers are configured to transmit ultrasonic waves at a frequency of 40 kHz. The projector 16 is configured to project visual information onto the screen 14 from above the screen 14 as shown. In an alternative embodiment, a projector may be placed between the transducer array and the screen, such that the projection comes from below the screen.

사용자는 이 시각 정보와 상호 작용하고 사용자의 손(26)의 이동 및 위치가 손 추적기(20)에 의해 추적된다. 이 특정한 실시예에서, 손 추적기(20)는 사용자의 손가락 및 손바닥의 3D 좌표들을 초당 최대 200개의 프레임까지 제공하도록 구성된 립 모션 컨트롤러(Leap Motion controller)이다. 시스템(10)은 프로젝터(16)에 제어 데이터를 전송하고, 손 추적기(20)로부터 사용자 데이터를 수신하고, 트랜스듀서 어레이(12)를 구동하기 위한 구동 유닛(24)을 제어하는 PC(22)에 의해 제어된다. PC(22)는 압력 패턴이 트랜스듀서 어레이(12) 위의 영역에서 생성되도록 구동 유닛(24)을 제어한다. 사용자의 손 이동들에 응답하여, PC(22)는 트랜스듀서 어레이(12)가 트랜스듀서 어레이(12) 위에 형성된 압력 패턴을 변화시키게 하기 위해 구동 유닛(24)을 구동할 수 있다.The user interacts with this visual information and the movement and position of the user's hand 26 is tracked by the hand tracker 20 . In this particular embodiment, hand tracker 20 is a Leap Motion controller configured to provide 3D coordinates of the user's finger and palm at up to 200 frames per second. System 10 sends control data to projector 16 , receives user data from hand tracker 20 , and PC 22 controls drive unit 24 for driving transducer array 12 . is controlled by The PC 22 controls the drive unit 24 such that a pressure pattern is created in the region above the transducer array 12 . In response to the user's hand movements, the PC 22 may drive the drive unit 24 to cause the transducer array 12 to change the pressure pattern formed over the transducer array 12 .

각각의 음향 트랜스듀서가 생성될 원하는 압력 패턴에 대해 송신하여야 하는 음향 파의 진폭 및 위상을 계산하기 위해서, 가브릴로프(Gavrilov)에 의해 제안된 것으로부터 채택된 알고리즘("The possibility of generating focal regions of complex configurations in application to the problems of stimulation of human receptor structures by focused ultrasound", L. R. Gavrilov, 2008, Acoustical Physics Volume 54, Issue 2, pp 269-278, Print ISSN 1063-7710)이 사용될 수 있다. 체적 박스가 트랜스듀서 어레이(12) 위에 정해진다. 박스 내에서, 복수의 제어 점이 정해진다. 제어 점들은 최대 압력 값이 요구되는 점들, 또는 최소 압력 값들이 요구되는 점들을 나타낼 수 있다. 압력 값들은 제어 점들에서 입사된 트랜스듀서 어레이(12)에 의해 방출된 초음파의 세기를 최대화 또는 최소화함으로써 최대화 또는 최소화된다.In order to calculate the amplitude and phase of the acoustic wave that each acoustic transducer must transmit for the desired pressure pattern to be generated, an algorithm adopted from that proposed by Gavrilov ("The possibility of generating focal regions") of complex configurations in application to the problems of stimulation of human receptor structures by focused ultrasound", L. R. Gavrilov, 2008, Acoustical Physics Volume 54, Issue 2, pp 269-278, Print ISSN 1063-7710) can be used. A volume box is defined above the transducer array 12 . Within the box, a plurality of control points are defined. Control points may represent points at which maximum pressure values are desired, or points at which minimum pressure values are desired. The pressure values are maximized or minimized by maximizing or minimizing the intensity of the ultrasound emitted by the transducer array 12 incident at the control points.

알고리즘은 트랜스듀서 어레이(12) 위에 정해진 체적 내에 생성될 수 있는 원하는 압력 패턴들 각각을 획득하기 위해 필요한 트랜스듀서 어레이(12) 내의 트랜스듀서들 각각의 출력들을 모델링하기 위해 사용된다. 알고리즘은 3개의 단계로 분할될 수 있다.An algorithm is used to model the outputs of each of the transducers in the transducer array 12 needed to obtain each of the desired pressure patterns that can be created in a defined volume over the transducer array 12 . The algorithm can be divided into three steps.

첫째로, 단일의 트랜스듀서에 의해 발생된 음장이 큰 모델링된 체적을 생성하도록 계산된다. 이것에 의해, 모델링된 체적 내의 임의의 점에서의 위상 및 진폭은 실제 트랜스듀서 어레이 내의 트랜스듀서들 각각의 위치, 위상 및 진폭에 대해 샘플 트랜스듀서를 오프셋하고, 이들 값을 조합합으로써 결정될 수 있다.First, the sound field generated by a single transducer is calculated to create a large modeled volume. Thereby, the phase and amplitude at any point in the modeled volume can be determined by offsetting the sample transducer with respect to the position, phase and amplitude of each of the transducers in the actual transducer array, and combining these values. .

둘째로, 제어 점들이 제어 점들이 요구된 분포 상에 있도록 트랜스듀서 어레이 상의 3D 체적 내에 정해진다. 제어 점들은 최대 세기 또는 최소 세기의 점들일 있다(또한 널 포인트라고도 함). 3D 위치 이외에, 최대 제어 점들의 원하는 변조 주파수가 지정될 수 있다. 셋째로, 최적 위상들이 결과적인 음장이 제어 점들에 의해 지정된 것과 가능한 한 가깝도록 최소 놈(norm) 풀기를 사용하여 계산된다. 제어 점들에의 최적한 포커싱을 생성하는 해법이 한가지보다 많이 있을 수 있지만, 몇가지 해법들은 다른 것들보다 더 높은 세기를 생성한다. 해법들은 그러므로 가장 높은 세기를 생성하는 것을 찾기 위해 반복적으로 발생된다. Second, the control points are defined in the 3D volume on the transducer array so that the control points are on the desired distribution. Control points may be points of maximum intensity or minimum intensity (also called null points). In addition to the 3D position, the desired modulation frequency of the maximum control points can be specified. Third, optimal phases are calculated using minimum norm solving so that the resulting sound field is as close as possible to that specified by the control points. There may be more than one solution that produces optimal focusing to the control points, but some solutions produce higher intensity than others. Solutions are therefore iteratively generated to find the one that produces the highest intensity.

본 발명의 양태에 따른 방법은 요구된 촉각 감각을 발생하는 변조 주파수를 획득하는 단계를 포함한다. 예를 들어, 16㎐의 비교적 느린 변조 주파수는 느리게, 펄싱하는, 감각을 제공할 것이다. 200㎐의 높은 변조 주파수는 거의 연속적인 느낌을 발생할 것이다. 변조 파형은 다음에, 피드백 점에서 거의 또는 전혀 가청 음을 발생하지 않는, 그 주파수에서 선택된다. 변조 파형은 전술한 바와 같이 산출된 파형의 요구되는 위상 및 진폭에 기초하는 보간을 포함할 수 있다. A method according to an aspect of the present invention includes obtaining a modulation frequency that generates a desired tactile sensation. For example, a relatively slow modulation frequency of 16 Hz will provide a slow, pulsing, sensation. A high modulation frequency of 200 Hz will produce an almost continuous feeling. The modulating waveform is then selected at that frequency, which produces little or no audible sound at the feedback point. The modulated waveform may include interpolation based on the desired phase and amplitude of the calculated waveform as described above.

도 2 내지 6은 초음파 트랜스듀서에 의해 방출된 초음파에 적용되는 변조 파형을 나타내는, 좌측의 그래프를 도시한다. 도면의 우측의 그래프는 초음파 트랜스듀서의 초점에서 생성된 가청 파형을 나타낸다. 일반적으로, 진폭이 클수록 그리고 초점에서 생성된 피드백 파들이 들쭉날쭉할수록, 발생되는 음은 더 클 것이다.2 to 6 show graphs on the left, showing modulation waveforms applied to ultrasound emitted by an ultrasound transducer. The graph on the right side of the figure shows the audible waveform generated at the focus of the ultrasound transducer. In general, the greater the amplitude and the jagged the feedback waves generated at the focal point, the louder the generated sound will be.

종래 기술의 시스템들에서, 트랜스듀서들의 어레이가 단순히 변조 주파수에서 턴 온 및 턴 오프되는, 도 2의 좌측의 그래프에 도시한 바와 같이, 초음파의 변조는 간단한 구형파 패턴에 대응한다. 도 2의 우측의 그래프는 구형파 변조 패턴을 사용할 때 초음파 트랜스듀서의 초점에서 발생된 파형을 나타낸다. 분명한 바와 같이, 파형은 매끄러운 것과는 거리가 멀고 또한 파형의 진폭은 상대적으로 높다. 이것은 잠재적으로 크고 자극적인 음이 햅틱 피드백 시스템의 초점에서 발생되게 할 것이다. In prior art systems, the modulation of ultrasound corresponds to a simple square wave pattern, as shown in the graph on the left of FIG. 2 , in which an array of transducers is simply turned on and off at the modulation frequency. The graph on the right side of FIG. 2 shows a waveform generated at the focus of the ultrasonic transducer when a square wave modulation pattern is used. As is clear, the waveform is far from smooth and the amplitude of the waveform is relatively high. This will cause potentially loud and stimulating tones to be generated at the focal point of the haptic feedback system.

도 3은 초음파가 선형 보간에 따라 변화되는 다른 변조 파형을 도시한다. 도 3의 우측의 그래프에서 알 수 있는 바와 같이, 초점에서 발생된 파형은 상당히 더 작은 진폭으로, 도 2에 도시된 것보다 더 매끄럽다. 그러므로, 초점에서 발생된 음이 구형파 변조와 비교하여 감소될 것이다.3 shows another modulated waveform in which ultrasound is changed according to linear interpolation. As can be seen from the graph on the right of FIG. 3 , the waveform generated at the focal point is smoother than that shown in FIG. 2 , with a significantly smaller amplitude. Therefore, the sound generated at the focal point will be reduced compared to the square wave modulation.

도 4는 초음파가 코사인 보간에 따라 변화되는 다른 변조 파형을 도시한다. 도 4의 우측의 그래프에서 알 수 있는 바와 같이, 초점에서 발생된 파형은 상당히 더 작은 진폭으로, 도 2에 도시한 것보다 더 매끄럽다. 그러므로, 초점에서 발생된 음이 구형파 변조와 비교하여 감소될 것이다.4 shows another modulated waveform in which ultrasound is changed according to cosine interpolation. As can be seen from the graph on the right of FIG. 4 , the waveform generated at the focal point is smoother than that shown in FIG. 2 , with a significantly smaller amplitude. Therefore, the sound generated at the focal point will be reduced compared to the square wave modulation.

도 5는 초음파가 파라메트릭 스피커 보간에 따라 변화되는 다른 변조 파형을 도시한다. 도 5의 우측의 그래프에서 알 수 있는 바와 같이, 초점에서 발생된 파형은 상당히 더 작은 진폭으로, 도 2에 도시한 것보다 더 매끄럽다. 그러므로, 초점에서 생성된 음이 구형파 변조와 비교하여 감소될 것이다.5 shows another modulated waveform in which ultrasonic waves are varied according to parametric speaker interpolation. As can be seen from the graph on the right of FIG. 5 , the waveform generated at the focal point is smoother than that shown in FIG. 2 , with a significantly smaller amplitude. Therefore, the sound produced at the focal point will be reduced compared to the square wave modulation.

도 6, 7, 및 8은 초점이 5개의 점 소스로부터 생성될 때 상이한 변조 파형들로부터 발생되는 가청 파형들의 음장을 도시한다. 음장에 걸쳐 다양한 점들에서의 파형이 비교를 위해 강조 표시된다. 도 6은 코사인 보간을 나타내고, 도 7은 파라메트릭 스피커 보간을 나타내고, 도 8은 구형파 변조 방법을 나타낸다. 알 수 있는 바와 같이, 도 6은 가장 매끄럽고, 가장 균일한 음장을 나타낸다. 도 8에 도시한 것보다 여전히 상당히 더 매끄럽고 더 균일하더라도 도 7은 도 6처럼 매끄럽고 균일하지 않은 음장을 도시한다. 그러므로, 코사인 보간이 논의된 다른 것들과 비교하여 최적의 변조를 제공한다는 것이 명백하다. 연구에서, 통상의 기술자는 여전히 본 발명의 범위 내에 들면서, 코사인 보간보다 나을 뿐만 아니라 수행가능한 대안적인 변조 파형들을 찾을 수 있다.6, 7, and 8 show the sound field of audible waveforms generated from different modulating waveforms when the focus is generated from a five point source. Waveforms at various points across the sound field are highlighted for comparison. Fig. 6 shows cosine interpolation, Fig. 7 shows parametric speaker interpolation, and Fig. 8 shows a square wave modulation method. As can be seen, Figure 6 shows the smoothest and most uniform sound field. Although still significantly smoother and more uniform than that shown in FIG. 8 , FIG. 7 shows a smooth and non-uniform sound field as in FIG. 6 . Therefore, it is clear that cosine interpolation provides optimal modulation compared to others discussed. In research, a person skilled in the art can find alternative modulation waveforms that are performable as well as better than cosine interpolation, while still falling within the scope of the present invention.

본 발명이 특정한 실시예들을 참조하여 설명되고 도시되었지만, 본 발명은 본 명세서에 구체적으로 도시되지 않은 많은 상이한 변형들에 적합하다는 것이 본 기술 분야의 통상의 기술자에 의해 이해될 것이다.While the invention has been described and illustrated with reference to specific embodiments, it will be understood by those skilled in the art that the invention is suitable for many different modifications not specifically shown herein.

전술한 설명에서, 정수들 또는 요소들이 공지되고, 명백하거나 또는 예측가능한 등가물들을 갖는 것으로 언급되는 경우에, 그러한 등가물은 개별적으로 기술되는 것처럼 본 명세서에 포함된다. 임의의 그러한 등가물들을 포함하도록 해석되어야 하는, 본 발명의 진정한 범위를 결정하기 위해 청구범위가 참조되어야 한다. 바람직하고, 유리하고, 편리한 것 등으로서 설명된 본 발명의 정수들 또는 특징들은 선택적이며, 독립 청구항들의 범위를 제한하지 않는다는 것이 독자에 의해 또한 이해될 것이다. 또한, 본 발명의 일부 실시예에서 가능한 이득이 있을 수 있는 이러한 선택적 정수들 또는 특징들은 바람직하지 않을 수 있고, 그러므로 다른 실시예들에서 없을 수 있다는 것을 이해하여야 한다.In the preceding description, where integers or elements are referred to as having known, obvious or foreseeable equivalents, such equivalents are incorporated herein as if individually set forth. Reference should be made to the claims to determine the true scope of the invention, which should be construed to include any such equivalents. It will also be understood by the reader that essentials or features of the invention described as preferred, advantageous, convenient, etc. are optional and do not limit the scope of the independent claims. It should also be understood that such optional integers or features that may have possible benefit in some embodiments of the invention may be undesirable and therefore may not be present in other embodiments.

Claims (20)

초음파를 사용하여 햅틱 피드백을 생성하는 방법으로서,
초음파 트랜스듀서들의 위상 어레이를 사용하여 공통 초점을 갖는 복수의 초음파들을 발생시키는 단계 - 상기 공통 초점은 햅틱 피드백 점임 -; 및
상기 햅틱 피드백 점에서 가청 음을 거의 생성하지 않도록 선택된 파형을 사용하여 상기 초음파들의 발생을 변조하는 단계를 포함하고,
상기 복수의 트랜스듀서들 중 적어도 하나의 트랜스듀서의 위상 지연들을 조정하는 것은 적어도 하나의 변조 주파수를 통해 초음파 음장(acoustic field)의 디포커싱 및 리포커싱을 유발하는, 방법.A method of generating haptic feedback using ultrasound, the method comprising:
generating a plurality of ultrasound waves having a common focus using a phased array of ultrasound transducers, the common focus being a haptic feedback point; and
modulating the generation of the ultrasound waves using a waveform selected to produce little audible sound at the haptic feedback point;
and adjusting the phase delays of at least one of the plurality of transducers causes defocusing and refocusing of an acoustic field via at least one modulation frequency. 제1항에 있어서, 상기 초점에서의 급격한 압력 변화들을 방지하는 단계를 더 포함하는 방법.2. The method of claim 1, further comprising preventing sudden pressure changes at the focal point. 제2항에 있어서, 트랜스듀서 위상들 및 진폭들의 보간을 포함하는 파형으로 초음파들의 발생을 변조하는 단계를 더 포함하는 방법.3. The method of claim 2, further comprising modulating the generation of ultrasound waves with a waveform comprising interpolation of transducer phases and amplitudes. 제1항에 있어서, 상기 공통 초점의 위치를 변화시키는 단계를 더 포함하는 방법.2. The method of claim 1, further comprising changing the position of the common focal point. 제4항에 있어서, 상기 공통 초점의 위치는 중심 초점을 중심으로 진동하는, 방법.5. The method of claim 4, wherein the location of the common focal point oscillates about a central focal point. 햅틱 피드백 시스템으로서,
햅틱 피드백 점을 생성하기 위해 초음파들을 방출하도록 배열된 복수의 트랜스듀서들을 포함하는 위상 어레이 - 상기 위상 어레이는 상기 초음파들이 상기 햅틱 피드백 점에 수렴할 때 거의 또는 전혀 음(sound)을 생성하지 않는 형상을 갖는 변조 파형에 따라 상기 초음파들을 방출하도록 배열됨 -
를 포함하고,
상기 복수의 트랜스듀서들 중 적어도 하나의 트랜스듀서의 위상 지연들을 조정하는 것은 적어도 하나의 변조 주파수를 통해 초음파 음장의 디포커싱 및 리포커싱을 유발하는, 햅틱 피드백 시스템.A haptic feedback system comprising:
a phased array comprising a plurality of transducers arranged to emit ultrasound waves to produce a haptic feedback point, wherein the phased array is shaped to produce little or no sound when the ultrasound waves converge on the haptic feedback point arranged to emit said ultrasound waves according to a modulating waveform with
including,
and adjusting the phase delays of at least one of the plurality of transducers causes defocusing and refocusing of the ultrasonic sound field via at least one modulation frequency. 제6항에 있어서, 제어 유닛을 더 포함하는 햅틱 피드백 시스템.7. The haptic feedback system of claim 6, further comprising a control unit. 제6항에 있어서, 구동 유닛을 더 포함하는 햅틱 피드백 시스템.7. The haptic feedback system of claim 6, further comprising a drive unit. 제8항에 있어서, 상기 구동 유닛은 초음파를 생성하기 위해 상기 트랜스듀서를 구동하도록 배열되는, 햅틱 피드백 시스템.The haptic feedback system of claim 8 , wherein the drive unit is arranged to drive the transducer to generate ultrasound. 제9항에 있어서, 상기 구동 유닛에 제어 신호들을 전송하도록 배열되는 제어 유닛을 더 포함하는 햅틱 피드백 시스템.10. The haptic feedback system of claim 9, further comprising a control unit arranged to transmit control signals to the drive unit. 제7항에 있어서, 상기 제어 유닛은 메모리를 포함하는, 햅틱 피드백 시스템.8. The haptic feedback system of claim 7, wherein the control unit comprises a memory. 제7항에 있어서, 상기 제어 유닛은 특정한 변조 파형에 따라 상기 복수의 트랜스듀서들 중 적어도 하나의 트랜스듀서의 출력을 변조하도록 배열되는, 햅틱 피드백 시스템.The haptic feedback system of claim 7 , wherein the control unit is arranged to modulate the output of at least one of the plurality of transducers according to a particular modulation waveform. 방법으로서,
3차원 공간에서의 초점의 위치를 결정하는 단계; 및
복수의 트랜스듀서들을 사용하여, 상기 초점에서 더 높은 읍압을 생성하고, 상기 초점을 둘러싸는 공간에서 더 낮은 음압을 생성하고, 상기 초점에서 가청 음을 거의 생성하지 않도록 초음파 음장을 발생시키는 단계를 포함하고,
상기 복수의 트랜스듀서들 중 적어도 하나의 트랜스듀서의 위상 지연들을 조정하는 것은 적어도 하나의 변조 주파수를 통해 상기 초음파 음장의 디포커싱 및 리포커싱을 유발하는, 방법.As a method,
determining a location of a focus in a three-dimensional space; and
generating an ultrasonic sound field using a plurality of transducers to produce a higher pressure at the focal point, a lower sound pressure in a space surrounding the focal point, and produce little audible sound at the focal point; do,
and adjusting the phase delays of at least one of the plurality of transducers causes defocusing and refocusing of the ultrasonic sound field via at least one modulation frequency. 제13항에 있어서, 초음파 음장을 발생시키는 단계는 상기 복수의 트랜스듀서들 각각에 대한 위상 및 진폭을 계산하는 단계를 포함하는, 방법.14. The method of claim 13, wherein generating an ultrasonic sound field comprises calculating a phase and an amplitude for each of the plurality of transducers. 제14항에 있어서, 상기 초음파 음장은 초음파들을 포함하고, 상기 초음파 음장을 발생시키는 단계는 상기 초음파들을 파형으로 변조하는 단계를 더 포함하는, 방법.The method of claim 14 , wherein the ultrasonic sound field comprises ultrasonic waves, and generating the ultrasonic sound field further comprises modulating the ultrasonic waves into a waveform. 제15항에 있어서, 상기 파형은 보간 변조 패턴을 사용하여 생성되는, 방법.16. The method of claim 15, wherein the waveform is generated using an interpolated modulation pattern. 제15항에 있어서, 상기 파형은 코사인 파형인, 방법.16. The method of claim 15, wherein the waveform is a cosine waveform. 제16항에 있어서, 상기 파형은 연속적으로 변화하는 음압을 생성하는, 방법.17. The method of claim 16, wherein the waveform produces a continuously varying sound pressure. 제13항에 있어서, 상기 초점의 위치를 변화시키는 단계를 더 포함하는 방법.14. The method of claim 13, further comprising changing the position of the focal point. 제19항에 있어서, 상기 초점의 위치를 변화시키는 단계는 상기 초점의 위치를 중심 초점을 중심으로 진동시키는 단계를 포함하는, 방법.20. The method of claim 19, wherein changing the position of the focal point comprises oscillating the position of the focal point about a central focal point.
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